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Code Issues Packages Projects Releases Wiki Activity

Tango: Added Data Recorder mode (See Mapping menu)

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This commit is contained in:
matlabbe
2016-10-29 18:14:25 -04:00
parent 9e0b45e27a
commit a09aebeca4
6 changed files with 104 additions and 6 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+70 -5
View File
@@ -79,6 +79,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private MenuItem mItemRenderingPointCloud;
private MenuItem mItemRenderingMesh;
private MenuItem mItemRenderingTextureMesh;
private MenuItem mItemDataRecorderMode;
private String mOpenedDatabasePath = "";
@@ -337,10 +338,12 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemRenderingPointCloud = menu.findItem(R.id.point_cloud);
mItemRenderingMesh = menu.findItem(R.id.mesh);
mItemRenderingTextureMesh = menu.findItem(R.id.texture_mesh);
mItemDataRecorderMode = menu.findItem(R.id.data_recorder);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
return true;
}
@@ -525,6 +528,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemPostProcessing.setEnabled(false);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
RTABMapLib.setPausedMapping(false); // resume mapping
}
}
@@ -658,9 +662,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
item.setChecked(!item.isChecked());
mItemSave.setEnabled(item.isChecked());
mItemExport.setEnabled(item.isChecked());
mItemOpen.setEnabled(item.isChecked());
mItemPostProcessing.setEnabled(item.isChecked());
mItemExport.setEnabled(item.isChecked() && !mItemDataRecorderMode.isChecked());
mItemOpen.setEnabled(item.isChecked() && !mItemDataRecorderMode.isChecked());
mItemPostProcessing.setEnabled(item.isChecked() && !mItemDataRecorderMode.isChecked());
mItemDataRecorderMode.setEnabled(item.isChecked());
// mItemSave.setEnabled(item.isChecked() && !mWorkingDirectory.isEmpty());
if(item.isChecked())
{
@@ -675,8 +680,15 @@ public class RTABMapActivity extends Activity implements OnClickListener {
else
{
RTABMapLib.setPausedMapping(false);
((TextView)findViewById(R.id.status)).setText(mItemLocalizationMode.isChecked()?"Localization":"Mapping");
mToast.makeText(getActivity(), String.format("On resume, a new map is created. Tip: Try relocalizing in the previous area."), mToast.LENGTH_LONG).show();
if(mItemDataRecorderMode.isChecked())
{
mToast.makeText(getActivity(), String.format("Data Recorder Mode: no map is created, only raw data is recorded."), mToast.LENGTH_LONG).show();
}
else
{
((TextView)findViewById(R.id.status)).setText(mItemLocalizationMode.isChecked()?"Localization":"Mapping");
mToast.makeText(getActivity(), String.format("On resume, a new map is created. Tip: Try relocalizing in the previous area."), mToast.LENGTH_LONG).show();
}
}
}
else if (itemId == R.id.post_processing_standard)
@@ -1112,6 +1124,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
}
})
.setNegativeButton("No", new DialogInterface.OnClickListener() {
@@ -1135,6 +1148,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
}
}
}
@@ -1153,6 +1167,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
}
}
else if(itemId == R.id.reset)
@@ -1181,6 +1196,56 @@ public class RTABMapActivity extends Activity implements OnClickListener {
RTABMapLib.openDatabase(mTempDatabasePath);
}
}
else if(itemId == R.id.data_recorder)
{
final boolean dataRecorderOldState = item.isChecked();
new AlertDialog.Builder(getActivity())
.setTitle("Data Recorder Mode")
.setMessage("Changing from/to data recorder mode will close the current session. Do you want to continue?")
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
// reset
((TextView)findViewById(R.id.points)).setText(String.valueOf(0));
((TextView)findViewById(R.id.polygons)).setText(String.valueOf(0));
((TextView)findViewById(R.id.nodes)).setText(String.valueOf(0));
((TextView)findViewById(R.id.words)).setText(String.valueOf(0));
((TextView)findViewById(R.id.memory)).setText(String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024)));
((TextView)findViewById(R.id.db_size)).setText(String.valueOf(0));
((TextView)findViewById(R.id.inliers)).setText(String.valueOf(0));
((TextView)findViewById(R.id.features)).setText(String.valueOf(0));
((TextView)findViewById(R.id.update_time)).setText(String.valueOf(0));
((TextView)findViewById(R.id.hypothesis)).setText(String.valueOf(0));
((TextView)findViewById(R.id.fps)).setText(String.valueOf(0));
mTotalLoopClosures = 0;
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
mItemDataRecorderMode.setChecked(!dataRecorderOldState);
RTABMapLib.setDataRecorderMode(mItemDataRecorderMode.isChecked());
mOpenedDatabasePath = "";
RTABMapLib.openDatabase(mTempDatabasePath);
mItemOpen.setEnabled(!mItemDataRecorderMode.isChecked() && mItemPause.isChecked());
mItemPostProcessing.setEnabled(!mItemDataRecorderMode.isChecked() && mItemPause.isChecked());
mItemExport.setEnabled(!mItemDataRecorderMode.isChecked() && mItemPause.isChecked());
if(mItemDataRecorderMode.isChecked())
{
mToast.makeText(getActivity(), String.format("Data recorder mode activated! Tip: You can increase data update rate in Parameters menu under Mapping options."), mToast.LENGTH_LONG).show();
}
else
{
mToast.makeText(getActivity(), String.format("Data recorder mode deactivated!"), mToast.LENGTH_LONG).show();
}
}
})
.setNegativeButton("No", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
}
})
.show();
}
else if(itemId == R.id.export_obj || itemId == R.id.export_ply)
{
final String extension = itemId == R.id.export_ply ? ".ply" : ".obj";
app/android/src/com/introlab/rtabmap/RTABMapLib.java
+1
View File
@@ -68,6 +68,7 @@ public class RTABMapLib
public static native void setGridVisible(boolean visible);
public static native void setAutoExposure(boolean enabled);
public static native void setFullResolution(boolean enabled);
public static native void setDataRecorderMode(boolean enabled);
public static native void setMaxCloudDepth(float value);
public static native void setMeshAngleTolerance(float value);
public static native void setMeshTriangleSize(int value);